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<div><div class="header">
  <div class="headertitle"><div class="title">algorithms </div></div>
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<div class="textblock"><p><a class="anchor" id="autotoc_md37"></a></p>
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<p><a href="#" onclick="location.href='mai'+'lto:'+'neo'+'zn'+'g1@'+'hn'+'u.e'+'du'+'.cn'; return false;">neozn<span class="obfuscator">.nosp@m.</span>g1@h<span class="obfuscator">.nosp@m.</span>nu.ed<span class="obfuscator">.nosp@m.</span>u.cn</a></p>
<blockquote class="doxtable">
<p>TODO:</p><ol type="1">
<li>实现麦轮和全向轮的速度解算</li>
<li>实现一些通用的滤波器，如指数平均，窗平均，低通等 </li>
</ol>
</blockquote>
<h1 class="doxsection"><a class="anchor" id="autotoc_md38"></a>
总览和使用</h1>
<p>module层的algorithm提供了一些供其他模块以及app的应用层使用的算法，包括：</p>
<ol type="1">
<li>PID控制器<span class="tt"><a class="el" href="controller_8h.html">controller.h</a></span></li>
<li>crc8 crc16循环冗余校验</li>
<li>卡尔曼滤波器<span class="tt"><a class="el" href="kalman__filter_8h_source.html">kalman_filter.h</a></span>，可以通过用户自定义函数配置为扩展卡尔曼滤波</li>
<li><span class="tt">LQR.h</span>，线性二次型调节器</li>
<li><span class="tt">QuaterninoEKF.h</span>，用于<span class="tt">ins_task</span>的四元数姿态解算和扩展卡尔曼滤波融合</li>
<li><span class="tt"><a class="el" href="user__lib_8h.html">user_lib.h</a></span>，一些通用的函数，包括限幅、数据类型转换、角度弧度转换、快速符号判断以及优化开方等功能。多个模块都会使用的、不好区分的函数可以放置于此</li>
</ol>
<h1 class="doxsection"><a class="anchor" id="autotoc_md39"></a>
代码结构</h1>
<p>.c 为算法的实现，.h为算法对外接口的头文件</p>
<p>在编写应用的时候，你基本不会使用这里的函数，或是修改其实现。</p>
<p>若发现bug或需要增加功能，联系组长讨论。 </p>
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